AUV dynamic docking device

Abstract

The present invention relates to the technical field of underwater docking of AUVs, specifically, an AUV dynamic docking device, comprising a fixed frame, a lifting mechanism, a capture rod mechanism and a locking mechanism, wherein the fixed frame is arranged in a moving platform, and the fixed frame is provided with a plurality of support seats, a locking mechanism is arranged in any support seat, the locking mechanism is provided with a movable locking rod, a locking ring is arranged at the lower side of the AUV, and the locking rod passes through the locking ring when the AUV is locked, the lifting mechanism is arranged on the fixed frame, and the lifting mechanism is provided with a liftable guide plate, an ultra-short baseline is arranged on the guide plate, the capture rod mechanism is arranged in the AUV, the capture rod mechanism is provided with a liftable capture rod, and the lower end of the capture rod is provided with a capture rod head end, and the capture rod head end and the AUV shell clamp the guide plate to realize the fixed connection between the AUV and the guide plate. The overall structure of the present invention is compact, the AUV docking success rate is high and the safety is high.

Description

Technical Field

[0001] The invention relates to the technical field of AUV underwater docking, in particular to an AUV dynamic docking device. Background Art

[0002] With the continuous development of science and technology, AUV (autonomous underwater robot), as one of the powerful tools for exploring ocean space, plays an increasingly important role in military and scientific research. With the rapid expansion of the area of ​​marine resource development and utilization, and the continuous extension to the deep sea and the open sea, the ever-changing form of coastal defense also requires modern marine equipment to have the ability to work in the deep sea and the open sea. When AUV is performing deep-sea operations, if it frequently surfaces through the surface support platform or returns to the shore base for energy replenishment and data exchange, it will consume a lot of energy and time, and the continuity of the operation will be interrupted. AUV can realize timely energy replenishment and data exchange by connecting to the underwater docking platform, which is an effective way to achieve its large-scale, deep-depth, and long-term continuous operation.

[0003] At present, underwater docking technology can be divided into underwater static docking and underwater dynamic docking. Underwater static docking refers to the AUV docking platform placed on the seabed or suspended below the water surface, and its overall absolute coordinates are fixed; underwater dynamic docking means that the platform docking with the AUV is moving, which is generally used for AUV recovery. The docking platform needs to move at a certain speed so that it can use fluid power to maintain a stable posture.

[0004] As a kind of AUV underwater docking technology, underwater dynamic docking is a cutting-edge research technology in the field of underwater equipment and a key development direction of AUV underwater docking technology. At present, underwater dynamic docking platforms are mainly large manned or unmanned mobile platforms on the surface or underwater.

[0005] Compared with the underwater static docking platform, the underwater dynamic docking platform has the following advantages: First, the dynamic docking platform can be moved to the operating area of ​​the AUV, dock with the AUV and complete the corresponding task, saving the energy of the AUV itself, expanding the operating area of ​​the AUV, and also improving the operating efficiency of the AUV; Second, due to the unevenness of the deep seabed, the underwater static docking platform is not easy to fix, while the underwater dynamic docking platform can hover at different depths to adapt to the depth of the AUV and complete the docking task with the AUV, thus reducing the requirements for the AUV's control performance. However, in terms of the difficulty and maturity of docking, it is easier for the AUV to dock with the static docking platform, because the docking of the AUV with the dynamic docking platform not only needs to consider the motion state of the AUV, but also the motion state of the dynamic docking platform. In addition, the movement of the dynamic docking platform will cause the motion state of the fluid nearby to change, and the change of the fluid motion state will affect the posture of the AUV and the docking device, so the underwater dynamic docking of the AUV is more difficult to achieve than the underwater static docking. Summary of the invention

[0006] The purpose of the present invention is to provide an AUV dynamic docking device, which adopts a permeable dock structure and is carried on a moving platform. When the AUV is released, the lifting mechanism extends the AUV to the moving platform, and the AUV is automatically unlocked and sails; when the AUV is recovered, the lifting mechanism extends from the moving platform and captures and locks the AUV, and finally the AUV is transported back to the moving platform and fixed. The overall structure of the present invention is compact, the AUV docking success rate is high and the safety is high.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] A dynamic docking device for an AUV comprises a fixing frame, a lifting mechanism, a capture rod mechanism and a locking mechanism, wherein the fixing frame is arranged in a moving platform, and the fixing frame is provided with a plurality of support seats, a locking mechanism is arranged in any of the support seats, the locking mechanism is provided with a movable locking rod, a locking ring is arranged at the lower side of the AUV, and the locking rod passes through the locking ring when the AUV is locked, the lifting mechanism is arranged on the fixing frame, and the lifting mechanism is provided with a liftable guide plate, an ultra-short baseline is arranged on the guide plate, the capture rod mechanism is arranged in the AUV, the capture rod mechanism is provided with a liftable capture rod, and a capture rod head end is arranged at the lower end of the capture rod, and the capture rod head end and the AUV shell clamp the guide plate to realize the fixed connection between the AUV and the guide plate.

[0009] The capture rod mechanism includes a capture rod driving device, a worm, a worm wheel, a rocker arm, a slide seat, a capture rod and a slide rail, wherein the worm is driven to rotate by the capture rod driving device, the worm wheel is meshed with the worm, one end of the rocker arm is coaxially fixed to the worm wheel, and the other end is provided with a rocker arm slide shaft, the slide rail is vertically fixed in the AUV, and a sliding block is provided at one end of the slide seat to cooperate with the slide rail, a rocker arm slide groove is provided on the slide seat, and the rocker arm slide shaft is placed in the rocker arm slide groove, and the upper end of the capture rod is connected to the slide seat.

[0010] The lifting mechanism includes a guide plate, a lifting scissors-type lifting connecting rod assembly, a lifting base, a lifting drive device, a lifting screw and a lifting nut, wherein the lifting base is fixedly mounted on the fixed frame, the lifting screw is arranged in the lifting base and driven to rotate by the lifting drive device, the lifting nut is sleeved on the lifting screw, a lower slide groove is provided on the lifting base, and one side of the lower end of the lifting scissors-type lifting connecting rod assembly is hinged to the lifting base, and the other side is provided with a lower slide shaft which moves along the corresponding lower slide groove, an upper slide groove is provided on the guide plate, and one side of the upper end of the lifting scissors-type lifting connecting rod assembly is hinged to the guide plate, and the other side is provided with an upper slide shaft which moves along the corresponding upper slide groove.

[0011] A dovetail-shaped opening is provided on one side of the guide plate, and a limiting hole is provided at a corner end of the bottom of the opening. When the AUV is fixedly connected to the guide plate, the capture rod is inserted into the limiting hole.

[0012] The locking mechanism includes a locking rod driving device, a locking screw, a locking nut, a locking rod and a limit sleeve, wherein the locking screw is driven to rotate by the locking rod driving device, the locking nut is sleeved on the locking screw, one end of the locking rod is fixedly connected to the locking nut via a connecting rod, two limit sleeves are fixed in the support seat, and the locking rod is placed in the limit sleeve close to the locking rod driving device. When the AUV is locked, the locking rod passes through the locking ring and is inserted into the limit sleeve on the other side.

[0013] A position switch is provided in the support seat for housing the locking mechanism, and when the AUV falls, the locking ring on the lower side of the AUV triggers the position switch.

[0014] A supporting recess is arranged on the supporting seat, and a buffer plate is arranged in the supporting recess.

[0015] A docking control cabin is provided on the fixing frame.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention adopts a modular design and is mounted on a moving platform in a permeable dock type, which has no effect on the overall performance of the moving platform. When releasing the AUV, the lifting mechanism extends the AUV onto the moving platform, and the AUV automatically unlocks and navigates; when recovering the AUV, the lifting mechanism extends from the moving platform and captures and locks the AUV, and finally transports the AUV back to the moving platform and fixes it.

[0018] 2. The capture mechanism of the present invention drives the swing rod to swing through the worm gear, and then drives the capture rod to rise and fall through the swing rod, and uses the capture rod head end and the AUV shell to clamp the guide plate of the lifting mechanism to achieve locking and complete the AUV docking. The overall structure is simple and compact, the docking is firm, and the worm gear has a locking function, so there is no need to design a locking mechanism separately. After the AUV is docked and captured, it can be automatically locked;

[0019] 3. The lifting mechanism of the present invention drives the guide plate to rise and fall by telescoping the lifting scissor-type connecting rod assembly, and has a compact structure and a large lifting range.

[0020] 4. When the AUV is docked and recovered, the guide plate rises to a set distance above the moving platform and guides the AUV to move through an ultra-short baseline, and a dovetail opening is provided on one side of the guide plate to assist in guiding the movement of the capture rod. The AUV has a high docking success rate and is not prone to collision with the moving platform, so it has high safety. In addition, the present invention arranges the lifting mechanism on the fixed frame, and the fixed frame is encapsulated in the water-permeable cabin of the moving platform, so the structure is compact, and the lifting mechanism drives the AUV to directly sit on the support seat of the fixed frame, so the repeated positioning accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention,

[0022] Figure 2 for Figure 1 Structural diagram of the lifting mechanism.

[0023] Figure 3 for Figure 1 Structural diagram of the capture rod mechanism.

[0024] Figure 4 for Figure 3 Schematic diagram of the motion state of the capture rod mechanism Figure 1 ,

[0025] Figure 5 for Figure 3 Schematic diagram of the motion state of the capture rod mechanism Figure 2 ,

[0026] Figure 6 for Figure 5 Schematic diagram of the capture rod mechanism in FIG.

[0027] Figure 7 for Figure 3 Schematic diagram of fixing the capture rod mechanism and the guide plate of the lifting mechanism,

[0028] Figure 8 for Figure 1 Structural diagram of the locking mechanism.

[0029] Fig. 9 This is a schematic diagram of the present invention when releasing the AUV.

[0030] Fig.10 This is a schematic diagram of the present invention when recovering AUV.

[0031] Among them, 1 is a catch rod mechanism, 101 is a catch rod driving device, 102 is a worm, 103 is a rocker, 1031 is a rocker slide shaft, 104 is a slide seat, 1041 is a rocker slide groove, 105 is a slider, 106 is a catch rod, 1061 is a catch rod head end, 107 is a worm gear, 108 is a slide rail, 2 is a locking mechanism, 201 is a locking rod driving device, 202 is a locking screw, 203 is a locking rod, 204 is an in-place switch, 205 is a limit sleeve, 206 is a lock Tightening nut, 207 is buffer plate, 3 is lifting mechanism, 301 is guide plate, 3011 is upper slide groove, 3012 is limit hole, 302 is lifting scissor connecting rod assembly, 303 is lifting base, 3031 is lower slide groove, 304 is lifting drive device, 305 is lifting screw, 306 is screw fixing block, 307 is lifting nut, 4 is fixing frame, 5 is docking control cabin, 6 is ultra-short baseline, 7 is AUV, 701 is locking ring, 8 is moving platform, 9 is support seat. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] like Figures 1 to 10 As shown, the present invention includes a fixing frame 4, a lifting mechanism 3, a capture rod mechanism 1 and a locking mechanism 2, wherein the fixing frame 4 is arranged in a water-permeable cabin of a moving platform 8, and the fixing frame 4 is provided with a plurality of support seats 9 for supporting the AUV 7, such as Figure 8 As shown, a locking ring 701 is provided at the lower side of the AUV7, a locking mechanism 2 is provided in any support seat 9, and the locking mechanism 2 is provided with a movable locking rod 203, and when the AUV7 is locked, the locking rod 203 passes through the locking ring 701, and the lifting mechanism 3 is provided at the front end of the fixing frame 4, and as shown Figure 2 As shown, the lifting mechanism 3 is provided with a guide plate 301 which can be lifted and lowered, and as shown in FIG. Figure 1 As shown, the guide plate 301 is provided with an ultra-short baseline 6, and the capture rod mechanism 1 is provided in the AUV 7. Figures 3 to 6As shown, the capture rod mechanism 1 is provided with a liftable capture rod 106, and the lower end of the capture rod 106 is provided with an inverted T-shaped capture rod head end 1061, as shown in FIG. Figure 2 As shown, a dovetail-shaped opening is provided on one side of the guide plate 301 of the lifting mechanism 3, and a limiting hole 3012 is provided at the bottom corner of the opening. Figure 7 As shown, when the capture rod mechanism 1 and the lifting mechanism 3 are fixed, the capture rod 106 is inserted into the limiting hole 3012, and the capture rod head end 1061 and the AUV7 shell work together to clamp the guide plate 301, thereby achieving a fixed connection between the AUV7 and the guide plate 301.

[0034] like Figures 3 to 6 As shown, the capture rod mechanism 1 includes a capture rod driving device 101, a worm 102, a worm wheel 107, a rocker 103, a slide 104, a capture rod 106 and a slide rail 108, wherein the capture rod driving device 101, the worm 102 and the worm wheel 107 are all arranged in the AUV7, and the worm 102 is driven to rotate by the capture rod driving device 101, the worm wheel 107 is meshed with the worm 102, one end of the rocker 103 is coaxially fixedly connected to the worm wheel 107, and the other end is provided with a rocker slide shaft 1031, the slide rail 108 is vertically fixed in the AUV7, and one end of the slide 104 is provided with a slider 105 to cooperate with the slide rail 108, a rocker slide groove 1041 is provided on the slide 104, and the rocker slide shaft 1031 is placed in the rocker slide groove 1041, and the upper end of the capture rod 106 is fixedly connected to the slide 104. Figures 3 to 5 As shown, when the capture rod mechanism 1 is working, the capture rod driving device 101 drives the swing rod 103 to swing by transmitting torque through the worm 102 and the worm wheel 107, and when the swing rod 103 swings, the swing rod sliding shaft 1031 at the free end of the swing rod 103 moves along the swing rod sliding groove 1041 on the slide seat 104 and drives the slide seat 104 to move up and down along the slide rail 108, thereby driving the capture rod 106 to move up and down. In this embodiment, the capture rod driving device 101 is a servo motor.

[0035] like Figure 2As shown, the lifting mechanism 3 includes a guide plate 301, a lifting scissors-type connecting rod assembly 302, a lifting base 303, a lifting drive device 304, a lifting screw 305 and a lifting nut 307, wherein the lifting base 303 is fixed on the fixed frame 4, the lifting screw 305 is arranged in the lifting base 303 and is driven to rotate by the lifting drive device 304, the lifting nut 307 is sleeved on the lifting screw 305, and lower slide grooves 3031 are provided on both sides of the lifting base 303, and one side of the lower end of the lifting scissors-type connecting rod assembly 302 is hinged to the lifting base 303, and the other side is provided with a lower slide shaft that moves along the corresponding lower slide groove 3031, and upper slide grooves 3011 are provided on both sides of the guide plate 301, and one side of the upper end of the lifting scissors-type connecting rod assembly 302 is hinged to the guide plate 301, and the other side is provided with an upper slide shaft that moves along the corresponding upper slide groove 3011. When the lifting mechanism 3 is working, the lifting screw 305 is driven to rotate by the lifting drive device 304, thereby driving the lifting screw nut 307 to move, thereby driving the lifting scissor-type connecting rod assembly 302 to extend or shorten to drive the guide plate 301 to rise and fall. In this embodiment, the lifting drive device 304 is a servo motor.

[0036] like Figure 1 As shown, in this embodiment, three support seats 9 are provided on the fixing frame 4, wherein the locking mechanism 2 is provided in the middle support seat 9. Figure 8 As shown, the locking mechanism 2 includes a locking rod driving device 201, a locking screw 202, a locking nut 206, a locking rod 203 and a limiting sleeve 205, wherein the locking screw 202 is driven to rotate by the locking rod driving device 201, the locking nut 206 is sleeved on the locking screw 202, one end of the locking rod 203 is fixedly connected to the locking nut 206 through a connecting rod, and two limiting sleeves 205 are fixedly arranged in the support seat 9. The locking rod 203 is placed in a limiting sleeve 205 near the locking rod driving device 201, and a locking ring 701 is provided on the lower side of the AUV7. When the locking mechanism 2 is working, the locking rod driving device 201 transmits torque through the locking screw 202 and the locking nut 206 to drive the locking rod 203 to move, so that the locking rod 203 passes through the locking ring 701 and is inserted into the limiting sleeve 205 on the other side to lock the AUV7. In this embodiment, the locking rod driving device 201 is a servo motor.

[0037] like Figure 8 As shown, a position switch 204 is provided in the support seat 9 on which the locking mechanism 2 is mounted. When the AUV 7 falls, the locking ring 701 on the lower side of the AUV 7 triggers the position switch 204, and the position switch 204 sends a signal to start the locking rod driving device 201 to lock the AUV 7. The position switch 204 is a well-known technology in the art and is a commercially available product.

[0038] like Figure 8 As shown, the support seat 9 is provided with an arc-shaped support recess for supporting the AUV7, and a rubber buffer plate 207 is provided in the support recess. In addition, a through hole is provided at the bottom of the support recess of the support seat 9 on which the locking mechanism 2 is mounted, through which the locking ring 701 passes and extends into the interior of the support seat 9.

[0039] like Figure 1 As shown, a docking control cabin 5 is provided on the fixing frame 4 to realize the control of the above-mentioned various mechanisms.

[0040] The working principle of the present invention is:

[0041] like Fig. 9 As shown, when the AUV7 is deployed, first the locking rod 203 in the locking mechanism 2 moves backward and unlocks, and at the same time the movable platform 8 opens the hatch, and then the lifting mechanism 3 starts to lift the AUV7 to a set distance above the movable platform 8, and the capture rod 106 in the capture mechanism 1 moves downward so that the capture rod head end 1061 no longer clamps the guide plate 301 of the lifting mechanism 3, thereby releasing the AUV7, and then the movable platform 8 continues to sail forward, and after the AUV7 is completely separated from the movable platform 8, the capture rod 106 in the capture mechanism 1 moves upward and retracts, and finally the AUV7 accelerates and drives away to the operating area.

[0042] like Fig.10 As shown, after the AUV7 completes its work task, the moving platform 8 opens the hatch, the guide plate 301 in the lifting mechanism 3 rises and extends above the moving platform 8, and the ultra-short baseline 6 starts to send a signal. Under the guidance of the ultra-short baseline 6, the AUV7 gradually drives towards the moving platform 8. Within the set range from the moving platform 8, the AUV7 starts to sail at a set altitude at a distance from the upper part of the moving platform. At the same time, the capture mechanism 1 releases the capture rod 106 downward, and the AUV7 continues to sail forward until the capture rod 106 enters the limiting hole 3012 at the corner end of the dovetail opening of the guide plate 301, and then the capture rod 106 moves upward and is retracted. At this time, Figure 7 As shown, the catch rod head end 1061 and the AUV7 shell work together to clamp the guide plate 301, so that the AUV7 is docked and fixed, and finally the lifting mechanism 3 descends and brings the AUV7 back to the moving platform 8. Figure 8 As shown, after the AUV7 falls onto the support seat 9, the in-place switch 204 is triggered. The in-place switch 204 sends an in-place signal to start the locking mechanism 2 and lock the AUV7 through the locking rod 203, and then the moving platform 8 closes the hatch to complete the recovery.

[0043] The actions of each mechanism of the present invention are controlled by the docking control cabin 5. In addition, the ultra-short baseline 6 and the in-position switch 204 are both well-known technologies in the art and are commercially available products. In addition, the fixing frame 4, the lifting mechanism 3, etc. of the present invention are all arranged in the water-permeable cabin of the moving platform 8. The present invention adopts a modular design method and adopts a water-permeable dock cabin structure to be mounted on the moving platform 8, which has no effect on the overall performance of the moving platform 8.

Claims

1. An AUV dynamic docking device, characterized in that: The invention comprises a fixing frame (4), a lifting mechanism (3), a capture rod mechanism (1) and a locking mechanism (2), wherein the fixing frame (4) is arranged in a moving platform (8), and a plurality of support seats (9) are arranged on the fixing frame (4), a locking mechanism (2) is arranged in any support seat (9), the locking mechanism (2) is provided with a movable locking rod (203), a locking ring (701) is provided on the lower side of the AUV (7), and when the AUV (7) is locked, the locking rod (203) passes through the locking ring (701), and the lifting mechanism (3) is arranged on the lower side of the AUV (7). The AUV (7) is mounted on a fixed frame (4), and the lifting mechanism (3) is provided with a liftable guide plate (301), an ultra-short baseline (6) is provided on the guide plate (301), a capture rod mechanism (1) is provided in the AUV (7), the capture rod mechanism (1) is provided with a liftable capture rod (106), and a capture rod head end (1061) is provided at the lower end of the capture rod (106), and the capture rod head end (1061) and the AUV (7) shell clamp the guide plate (301) to achieve fixed connection between the AUV (7) and the guide plate (301); The capture rod mechanism (1) comprises a capture rod driving device (101), a worm (102), a worm wheel (107), a rocker rod (103), a slide seat (104), a capture rod (106) and a slide rail (108), wherein the worm (102) is driven to rotate by the capture rod driving device (101), the worm wheel (107) is meshed with the worm (102), and one end of the rocker rod (103) is coaxially fixedly connected to the worm wheel (107). A swing rod slide shaft (1031) is provided at the other end, a slide rail (108) is vertically fixed in the AUV (7), and a slider (105) is provided at one end of the slide seat (104) to cooperate with the slide rail (108), a swing rod slide groove (1041) is provided on the slide seat (104), and the swing rod slide shaft (1031) is placed in the swing rod slide groove (1041), and the upper end of the capture rod (106) is fixedly connected to the slide seat (104); The locking mechanism (2) comprises a locking rod driving device (201), a locking screw (202), a locking nut (206), a locking rod (203) and a limiting sleeve (205), wherein the locking screw (202) is driven to rotate by the locking rod driving device (201), the locking nut (206) is sleeved on the locking screw (202), one end of the locking rod (203) is fixedly connected to the locking nut (206) via a connecting rod, two limiting sleeves (205) are fixedly arranged in the support seat (9), and the locking rod (203) is placed in the limiting sleeve (205) close to the locking rod driving device (201), and when the AUV (7) is locked, the locking rod (203) passes through the locking ring (701) and is inserted into the limiting sleeve (205) on the other side.

2. The AUV dynamic docking device according to claim 1, characterized in that: The lifting mechanism (3) comprises a guide plate (301), a lifting scissor-type connecting rod assembly (302), a lifting base (303), a lifting drive device (304), a lifting screw (305) and a lifting nut (307), wherein the lifting base (303) is fixedly mounted on the fixing frame (4), the lifting screw (305) is arranged in the lifting base (303) and driven to rotate by the lifting drive device (304), and the lifting nut (307) is sleeved on the lifting screw (305). The lifting base (303) is provided with a lower sliding groove (3031), and one side of the lower end of the lifting scissor-type connecting rod assembly (302) is hinged to the lifting base (303), and the other side is provided with a lower sliding shaft that moves along the corresponding lower sliding groove (3031), and the guide plate (301) is provided with an upper sliding groove (3011), and one side of the upper end of the lifting scissor-type connecting rod assembly (302) is hinged to the guide plate (301), and the other side is provided with an upper sliding shaft that moves along the corresponding upper sliding groove (3011).

3. The AUV dynamic docking device according to claim 1 or 2, characterized in that: A dovetail-shaped opening is provided on one side of the guide plate (301), and a limiting hole (3012) is provided at a corner end of the bottom of the opening. When the AUV (7) is fixedly connected to the guide plate (301), the capture rod (106) is inserted into the limiting hole (3012).

4. The AUV dynamic docking device according to claim 1, characterized in that: A position switch (204) is provided in a support seat (9) that receives the locking mechanism (2), and when the AUV (7) falls, the locking ring (701) on the lower side of the AUV (7) triggers the position switch (204).

5. The AUV dynamic docking device according to claim 1, characterized in that: A supporting recess is provided on the supporting seat (9), and a buffer plate (207) is provided in the supporting recess.

6. The AUV dynamic docking device according to claim 1, characterized in that: The fixing frame (4) is provided with a docking control cabin (5).

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